train_dir=/gemini/output/test
task_name=lippie_sigle_arm
policy_class=Diffusion
num_epochs=3000
batch_size=24
num_episodes=100
chunk_size=30
lr=0.0001
dropout=0.1
loss_function=l1
state_dim=7
camera_names="cam_high cam_left_wrist"
ws_path=/gemini/code/act/
dataset_dir=/gemini/data-1/ACT
PYTORCH_CUDA_ALLOC_CONF=expandable_segments:True

echo "$train_dir"
echo "/gemini/code/act/"
echo "$dataset_dir"


cd $ws_path
# 初始化 Conda
eval "$(conda shell.bash hook)"
conda activate /root/miniforge3/envs/aloha
python train.py --dataset_dir $dataset_dir --ckpt_dir $train_dir  \
    --batch_size $batch_size --num_epochs $num_epochs --num_episodes $num_episodes \
    --chunk_size $chunk_size --policy_class $policy_class --task_name $task_name \
    --lr $lr --dropout $dropout --loss_function $loss_function --state_dim $state_dim  \
    --camera_names $camera_names